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Experimental Robotics VI pp 15–24Cite as

Control and coordination of multiple mobile robots in manipulation and material handling tasks

  • Chapter 2 Manipulation
  • Conference paper
  • First Online:

Part of the book series: Lecture Notes in Control and Information Sciences ((LNCIS,volume 250))

Abstract

We describe a framework and control algorithms for coordinating multiple mobile robots with manipulators focusing on tasks that require grasping, manipulation, and transporting large and possibly flexible objects without special purpose fixtures. Because each robot has an independent controller and is autonomous, the coordination and synergy are realized through sensing and communication. The robots can cooperatively transport objects and march in a tightly controlled formation, while also having the capability to navigate autonomously. We describe the key aspects of the overall hierarchy and the basic algorithms, with specific applications to our experimental testbed consisting of three robots.

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References

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Author information

Authors and Affiliations

  1. University of Pennsylvania, Philadelphia, USA

    Thomas Sugar & Vijay Kumar

Authors
  1. Thomas Sugar
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  2. Vijay Kumar
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Corresponding author

Correspondence to Thomas Sugar .

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© 2000 Springer-Verlag London Limited

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Cite this paper

Sugar, T., Kumar, V. (2000). Control and coordination of multiple mobile robots in manipulation and material handling tasks. In: Experimental Robotics VI. Lecture Notes in Control and Information Sciences, vol 250. Springer, London. https://doi.org/10.1007/BFb0119381

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  • DOI: https://doi.org/10.1007/BFb0119381

  • Published:

  • Publisher Name: Springer, London

  • Print ISBN: 978-1-85233-210-5

  • Online ISBN: 978-1-84628-541-7

  • eBook Packages: Springer Book Archive

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